[ros-users] New driver for DepthSense DS325 3D Camera

Wed May 6 06:00:39 UTC 2015

It's OK.  I'm really busy too, but maybe I will write what is missing in
the next weeks.

First of all I'm going to add the params to configure the node. I also want
to add dynamic reconfigure to the filters on point clouds.

About nodelets I must study how they work... I never used them.

Let's keep in touch

Walter

2015-05-05 18:58 GMT+02:00 Walter Lucetti <myzhar at gmail.com>:

> It's OK.  I'm really busy too, but maybe I will write what is missing in
> the next weeks.
>
> About nodelets I must study how they work... I never used them.
>
> Let's keep in touch
>
> Walter
>
> --
> Walter Lucetti
>
> email: myzhar at gmail.com
> web: www.robot-home.it - www.opencv.it
> project:  http://myzharbot.robot-home.it
> Il 05/Mag/2015 17:07, "Jorge Santos Simón" <ros-users at lists.ros.org> ha
> scritto:
>
>> Hi Walter, is a pity we failed to collaborate to make a better common
>> driver. Probably we should have announced better the  'softkinetic'
>> package.
>>
>> Still, tell me if you need any assistance on including features from the 'softkinetic'
>> package into your own driver. Probably things like the URDF model are a
>> good plus. Also the pc filters, as the camera is very noisy, but they
>> should go to a separated nodelet to keep the code clean and not incur on
>> pcl dependency [1].
>>
>> Ideally we should converge into a single driver with the best of both,
>> though I'm very busy now to invest much time on it.
>>
>> Jorge
>>
>> [1] https://github.com/ipa320/softkinetic/issues/35
>>
>> 2015-05-04 16:21 GMT+02:00 Walter "Myzhar" Lucetti via ros-users <
>> ros-users at lists.ros.org>:
>>
>>> Hi Gijs,
>>>
>>> you just wrote about the fact that it does not use PCL, neither OpenCV.
>>> So you can choose to use your own algorithm without being obliged to
>>> install 3rd parties libraries.
>>>
>>> Secondary, I searched a lot for a driver for ROS and I have not found
>>> the one you cited, so I started writing my own.
>>>
>>> Last of all, I'm going to use CUDA if available. As far as I know there
>>> are no drivers for Pointcloud2 topics that uses GPU to perform heaviest
>>> elaborations such as RGB-3D data registration.
>>>
>>> Walter
>>>
>>> 2015-05-03 19:47 GMT+02:00 G.A. vd. Hoorn - 3ME via ros-users <
>>> ros-users at lists.ros.org>:
>>>
>>>> On 28/04/15 23:15, Walter "Myzhar" Lucetti via ros-users wrote:
>>>>
>>>>> Hi all,
>>>>>
>>>>> if someone is searching for a driver for the DepthSense DS325 RGB-D
>>>>> time-to-flight camera, I'm glad to say that the first working version
>>>>> of it
>>>>> is available on Github:
>>>>>
>>>>> https://github.com/Myzhar/ros_depthsense_camera
>>>>>
>>>>> At this stage the driver can correctly publish RGB videostream, Simple
>>>>> XYZ
>>>>> Pointcloud and RGB XYZ Pointcloud.
>>>>>
>>>>> One of the strenght of my driver is the fact that it does not use
>>>>> neither
>>>>> OpenCV nor PCL libraries.
>>>>> It publishes only  sensor_msg::pointcloud2 and sensor_msg::Image
>>>>> messages.
>>>>>
>>>>> The next step will be the porting on CUDA of the heaviest function
>>>>> like the
>>>>> RGB to XYZ mapping and the use of the builtin accelerometer to
>>>>> compensate
>>>>> robot asset.
>>>>> I will also write the code to simulate a 2D laser scanner to provide
>>>>> full
>>>>> information... if requested.
>>>>>
>>>>> All this with an eye on the use of 100% of the potential of NVidia
>>>>> Jetson
>>>>> TK1...
>>>>>
>>>>> Any comment or debug will be really appreciated
>>>>>
>>>>
>>>> Walter; could you comment on what the greatest strengths of your driver
>>>> are when compared with the 'softkinetic' package [1]? That package seems to
>>>> target the same hardware. It does use PCL though.
>>>>
>>>>
>>>> Gijs
>>>>
>>>> [1] https://github.com/ipa320/softkinetic
>>>>
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>>>>
>>>
>>>
>>>
>>> --
>>> *Walter "Myzhar" Lucetti*
>>>
>>> email myzhar at robot-home.it
>>> web: *www.robot-home.it <http://www.robot-home.it/> - www.opencv.it
>>> <http://www.opencv.it/>*
>>> project:  http://myzharbot.robot-home.it
>>>
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>>>
>>>
>>
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-- 
*Walter "Myzhar" Lucetti*

email myzhar at robot-home.it
web: *www.robot-home.it <http://www.robot-home.it/> - www.opencv.it
<http://www.opencv.it/>*
project:  http://myzharbot.robot-home.it
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